考虑非光滑摩擦的绳驱连续型机器人驱动迟滞行为研究  

STUDY ON THE HYSTERESIS BEHAVIOR OF CABLE-DRIVEN CONTINUUM ROBOT CONSIDERING NON-SMOOTH FRICTION

作　　者：张轲 王梦雪 张树翠 赵佳源 张欣刚 姚文莉[1] ZHANG Ke;WANG Mengxue;ZHANG Shucui;ZHAO Jiayuan;ZHANG Xingang;Yao Wenli(School of Science,Qingdao University of Technology,Qingdao 266525,Shandong,China)

机构地区：[1]青岛理工大学理学院,山东青岛266525

出　　处：《力学与实践》2025年第1期139-147,共9页Mechanics in Engineering

基　　金：国家自然科学基金(12202224,12272197);山东省自然科学基金(ZR2022MA066);青岛理工大学教学改革项目(F2023-145)资助。

摘　　要：采用物质坐标可变的绳索单元推导了绳驱连续型机器人(cable-driven continuum robot,CDCR)中驱动绳索的约束方程。通过绳索单元物质描述和空间描述的变换关系,并弱化对绳索质量流动的描述,推导了柔性绳索的弹性变形虚功率。结果表明,若驱动绳索在运动过程中保持直线构型,则基于空间坐标和物质坐标推导的虚功率方程具有等价的形式,绳索驱动可等效为对绳索长度的约束。利用所提方法分析了CDCR系统的收、放绳过程,侦测到了摩擦诱导的驱动力非光滑迟滞和回差行为。In this paper,the cable element with moving nodes is used to establish the dynamic equations of the driving cables within the cable-driven continuum robot(CDCR),and the driving cables can be modeled as constraint equations acting upon the CDCR system.Firstly,the transformation relationship between material description and spatial description is introduced.Subsequently,the elastic deformation virtual power of the driving cables is derived,assuming negligible cable mass flow.Theoretical findings reveal that when the driving rope maintains a consistently linear configuration,the virtual power equations derived from the material and spatial coordinates are equivalent.At this juncture,the driving influence of the rope becomes equivalent to the constraint equation imposed by its length.Finally,the reciprocating driving process of CDCR system is studied by employing the proposed method and the driving force non-smooth hysteresis and backlash behavior induced by sliding friction are observed.

关 键 词：虚功率原理 绳驱连续型机器人 动态节点绳索单元 迟滞 

分 类 号：O313[理学—一般力学与力学基础]